An ambulatory mechanical leg system drives a mechanical leg (100, 21) with a crank (91) to pivot about a pivot axis (102) to produce uniform rectilinear motion at the distal end (41) of the leg (100, 21) during a stride stroke (51) portion of a crank revolution or cycle and then lifts the distal end...http://www.google.ca/patents/US6866557?utm_source=gb-gplus-sharePatent US6866557 - Apparatus and method for producing ambulatory motion
